Jetson ORIN CAN controller test

Autonomous Machines Jetson & Embedded Systems Jetson AGX Orin
1

Hi.
I’m trying to use CAN bus.
I have attached 2 CAN transceivers

and enabled can0 and can1 with following command.

#check current values of related registers
sudo busybox devmem 0x0c303000
sudo busybox devmem 0x0c303008
sudo busybox devmem 0x0c303010
sudo busybox devmem 0x0c303018
#0x0000C055
#0x0000C055
#0x0000C059
#0x0000C059

#use devmem to modify registers
sudo busybox devmem 0x0c303000 32 0x0000C400
sudo busybox devmem 0x0c303008 32 0x0000C458
sudo busybox devmem 0x0c303010 32 0x0000C400
sudo busybox devmem 0x0c303018 32 0x0000C458

#check modified values of relate registers
sudo busybox devmem 0x0c303000
sudo busybox devmem 0x0c303008
sudo busybox devmem 0x0c303010
sudo busybox devmem 0x0c303018
#0x0000C400
#0x0000C458
#0x0000C400
#0x0000C458

#or use modeprobe to mount CAN controller
sudo modprobe can
sudo modprobe can-raw
sudo modprobe can-dev
sudo modprobe mttcan

#configure CAN controllers with 1Mbps baudrate
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can1 type can bitrate 1000000

#loopback test
sudo ip link set can0 type can bitrate 1000000 loopback on
sudo ip link set can1 type can bitrate 1000000 loopback on

#open CAN controller
sudo ip link set up can0
sudo ip link set up can1

the loopback mode works without problem

after i Test two CAN controllers by connecting CANH to CANH and CANL to CANL of the two controllers

and i change the command with

sudo ip link set can0 type can bitrate 1000000
sudo ip link set can1 type can bitrate 1000000

and for testing i do :

  • Open two treminals A and B,run this command in treminal A:

candump can0

  • Now the command executed in terminal A should under a listener mode and user inputs are not accepted.Now execute the following command in terminal B and watch what will happen in terminal A.

cansend can1 5A1#1122334455667788

  • It supposed to be successful if returned values are these:

can0 5A1 [8] 11 22 33 44 55 66 77 88

But, I am not receiving any messages.
I have already checked all the connections several times, that’s not the problem.

Can you help me please

3

Hi niels.tastayre,

Are you using the devkit or custom board for AGX Orin?
What’s your Jetpack version in use?

Do you connect CAN0 and CAN1 and 2 can transceiver as following instruction (including 3.3V and GND)?
Controller Area Network (CAN) — Enabling CAN

Could you help to use the following command for both can0 and can1 instead?

$ ip link set can0 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
$ ip link set can1 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
4

I use the devkit with Ubuntu 20.04.6 LTS and nvidia-jetpack
Version: 5.1-b147

I connected CAN0 and CAN1 exactly as the instructions say (with 3.3v and gnd)

I also used the command :
$ ip link set can0 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
$ ip link set can1 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on

and the result is the same as before

5

Could you help to verify with latest Jetpack5.1.1 (R35.3.1)?

Do you have can transceiver other than current one using?
like the one suggested from the ducument.